@article{hierarchicalsegmentbasedoptimizationfor,
  title = {Hierarchical Segment-based Optimization for SLAM},
  author = {Yuxin Tian and Yujie Wang and Ming Ouyang and Xuesong Shi},
  year = {2021},
  eprint = {2111.04101},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2111.04101v1},
}